Real Time Motion Planning

Introduction

What is Real time Motion Planning?

What is the need for real time motion Planning?

Example scenarios in real life

Real Time Motion Planning

Problem of a moving vehicle

Computational Complexity

Solutions?

PRM

Concept of PRM

Is it always feasible?

RRT

Concept of RRT

Dependencies?

Central Idea

Motion Planning Framework System Dynamics Obstacle Free Guidance Systems Environment Characterization Problem Foundation

Algorithm

Start from Initial conditions.

Compute trajectories and build a tree structure

At each step add a new branch (edge) and a new milestone (node) to the tree

Add feasible trajectories to the tree

Repeat till one of the nodes is close to the goal

Data Structure

Data stored at Nodes State,Time Lower and upper bound cost

Data Stored at edges What could they stand for? What could be stored?

Steps in Involved

Initialization

Tree Expansion

Safety Check

Updating Costs

Tree Pruning

Pictoral Representation

Thank You

Questions?